Midsole gripping apparatus

Abstract

The utility model relates to automatic equipment technical field especially relates to a kind of footwear insole grabbing processing equipment, including equipment ontology, the equipment ontology includes rack plate, the top of rack plate is equipped with feeding station, conveying mechanism, feeding grabbing mechanism, UV curing mechanism and unloading grabbing mechanism;The feeding station is equipped with two, each feeding station is equipped with containing box, the side of containing box is equipped with visual inspection component;The conveying mechanism is along horizontal direction extension arrangement, and it is located the directly below of feeding grabbing mechanism;The feeding grabbing mechanism is straddled in the top of conveying mechanism, for grabbing the insole in containing box to the feeding end of conveying mechanism;The UV curing mechanism is located the side of conveying mechanism;The unloading grabbing mechanism is correspondingly set up in the discharge end of conveying mechanism.The utility model provides a kind of footwear insole grabbing processing equipment, improves production efficiency and processing accuracy, reduces artificial cost.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a footwear midsole gripping and processing equipment. Background Technology

[0002] The midsole is the core functional component of a shoe, located between the upper and the outsole. It primarily serves three core functions: support, cushioning, and adapting to foot shape. It is a key part that affects the comfort, stability, and functionality of a shoe.

[0003] In the production and processing of footwear midsoles, after the midsoles are coated with UV adhesive, they need to undergo curing. Traditional methods often rely on manual operation, where workers place the UV-coated midsoles onto curing equipment and then manually remove them after curing. This method has several problems. First, manual operation is inefficient and cannot meet the demands of large-scale production. Second, the precision of manual operation is difficult to guarantee; positional deviations can easily occur during placement and handling, affecting the UV adhesive curing effect and consequently the quality of the midsole. Furthermore, prolonged exposure to UV radiation can harm workers' health. In addition, traditional equipment suffers from poor coordination between its mechanisms and low automation, failing to achieve fully automated operation of the entire process from gripping and conveying to curing and unloading. Utility Model Content

[0004] Based on this, the purpose of this utility model is to provide a footwear midsole gripping and processing equipment that improves production efficiency and processing accuracy while reducing labor costs.

[0005] The present invention adopts the following technical solution:

[0006] A footwear midsole gripping and processing device includes a main body, which includes a frame plate. Above the frame plate are a loading station, a conveying mechanism, a loading gripping mechanism, a UV curing mechanism, and a unloading gripping mechanism. Two loading stations are provided, each equipped with a container for storing midsoles coated with UV adhesive. A visual inspection component is located beside the container. The conveying mechanism extends horizontally and is positioned directly below the loading gripping mechanism. The loading gripping mechanism spans above the conveying mechanism and grips the midsoles from the container to the inlet end of the conveying mechanism. The UV curing mechanism is located on the side of the conveying mechanism and cures the UV adhesive on the midsoles. The unloading gripping mechanism is correspondingly located at the outlet end of the conveying mechanism.

[0007] A further improvement to the above technical solution is that the conveying mechanism includes a conveying track assembly and a conveying plate; the conveying track assembly consists of two components, which are parallel and symmetrically distributed; each conveying track assembly includes a mounting base, two slide rails, a transmission belt, and a drive motor; the mounting base is fixedly connected to the upper surface of the frame plate; the two slide rails are symmetrically arranged above the mounting base; the transmission belt is located between the two slide rails and is connected to the drive motor; the conveying plate is connected to the transmission belt and slides with the slide rails to support the insole transferred by the feeding and gripping mechanism.

[0008] A further improvement to the above technical solution is that the feeding and gripping mechanism includes two gantry supports, two feeding longitudinal linear modules, a feeding transverse linear module, a feeding lifting module, and a feeding gripping module; the two gantry supports are distributed in parallel and symmetrically; the two feeding longitudinal linear modules are installed one-to-one on the top of the two gantry supports; the feeding transverse linear module is arranged across and slides in cooperation with the two feeding longitudinal linear modules, and moves along the extension direction of the feeding longitudinal linear modules; the feeding lifting module is connected to the feeding gripping module and is used to drive the feeding gripping module to move up and down; the feeding gripping module is used to grip the insole from the accommodating box.

[0009] A further improvement to the above technical solution is that the loading and lifting module includes a lifting mounting frame, a lifting motor, a lifting drive belt, a lifting screw, and a transmission nut; the lifting mounting frame is connected to the loading transverse linear module; the lifting motor is installed on the rear side of the lifting mounting frame, and its output end is connected to the lifting drive belt; the end of the lifting drive belt away from the lifting motor is connected to the lifting screw; the transmission nut is threadedly engaged with the lifting screw and is connected to the loading gripping module.

[0010] A further improvement to the above technical solution is that the feeding gripping module includes a feeding rotary motor and a feeding gripping suction cup; the feeding rotary motor is connected to a transmission nut, and its output end is connected to the feeding gripping suction cup to drive the feeding gripping suction cup to rotate and adjust the angle.

[0011] A further improvement to the above technical solution is that the UV curing mechanism includes a support base, a curing linear module, a curing rotary motor, and a curing module; the support base is disposed on one side of the conveying mechanism; the curing linear module is installed on the top of the support base, and its moving end is connected to the curing rotary motor for driving the curing rotary motor to move in a linear direction; the curing module is connected to the output end of the curing rotary motor for adjusting the irradiation angle of the curing module.

[0012] A further improvement to the above technical solution is that the curing module is a UV lamp.

[0013] A further improvement to the above technical solution is that the material feeding and gripping mechanism includes a material feeding gantry, a material feeding transverse linear module, a material feeding gripping module, and two material feeding longitudinal linear modules; the material feeding gantry is located at the discharge end of the conveying mechanism; the material feeding transverse linear module is installed on the side of the material feeding gantry, and its moving end is connected to the material feeding gripping module for transmission; the material feeding gripping module is used to grip the cured insole; the two material feeding longitudinal linear modules are respectively connected to the two ends of the bottom of the material feeding gantry.

[0014] A further improvement to the above technical solution is that the unloading gripping module includes an unloading rotary motor and an unloading gripping suction cup; the unloading rotary motor is connected to the unloading linear module, and its output end is connected to the unloading gripping suction cup to drive the unloading gripping suction cup to rotate and adjust the angle.

[0015] A further improvement to the above technical solution is that the accommodating box has at least two adjacent accommodating cavities, one end of each accommodating cavity is connected to the outside, and the size of the accommodating cavity is adapted to the feeding gripping suction cup.

[0016] The beneficial effects of this utility model are as follows:

[0017] This invention integrates a loading station, conveying mechanism, loading gripping mechanism, UV curing mechanism, and unloading gripping mechanism into a frame plate, achieving a fully automated process for midsoles from gripping, conveying, UV adhesive curing, to unloading. The loading station's receiving box and vision inspection components ensure the continuity and positional accuracy of midsole loading; the conveying mechanism stably transports the midsoles, ensuring smooth workflow for each process; the loading gripping mechanism, with the help of multiple modules and a rotatable suction cup, achieves precise gripping and loading of the midsoles; the UV curing mechanism, through movable and angle-adjustable UV lamps, ensures the UV adhesive in the midsoles is fully and evenly cured; the unloading gripping mechanism, also relying on multiple modules and a rotatable suction cup, completes the precise unloading of the cured midsoles. The overall equipment significantly improves production efficiency and processing accuracy, reduces labor costs and quality risks, and meets the needs of large-scale automated production. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the footwear midsole gripping and processing equipment of this utility model;

[0019] Figure 2 for Figure 1 A structural schematic diagram of a footwear midsole gripping and processing equipment from another angle;

[0020] Figure 3 for Figure 1 A schematic diagram of the feeding and gripping mechanism of a footwear midsole gripping and processing equipment;

[0021] Figure 4 for Figure 3 A magnified view of circle A of the feeding and gripping mechanism;

[0022] Figure 5 for Figure 1 A schematic diagram of the UV curing mechanism of a footwear midsole gripping and processing equipment.

[0023] The numbers on the map are:

[0024] 10. Equipment body; 11. Frame plate; 20. Loading station; 21. Receiving box; 22. Vision inspection component; 23. Receiving cavity; 30. Conveying mechanism; 31. Conveying plate; 40. Loading gripping mechanism; 41. Gantry support; 42. Loading longitudinal linear module; 43. Loading transverse linear module; 50. UV curing mechanism; 51. Support base; 52. Curing linear module; 53. Curing rotary motor; 54. Curing module; 60. Unloading gripping mechanism; 61. Unloading gantry; 62. 63. Horizontal linear unloading module; 64. Unloading gripping module; 65. Vertical linear unloading module; 66. Unloading box; 67. Unloading rotary motor; 68. Unloading gripping suction cup; 79. Conveying track assembly; 70. Mounting base; 71. Slide rail; 72. Drive belt; 83. Loading lifting module; 84. Lifting mounting frame; 85. Lifting motor; 86. Lifting drive belt; 87. Lifting screw; 88. Drive nut; 99. Loading gripping module; 90. Loading rotary motor; 91. Loading gripping suction cup. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] In the description of this utility model, it should be noted that the terms "vertical direction," "up," "down," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or a connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0028] like Figures 1 to 5 The diagram illustrates an embodiment of this utility model, relating to a shoe midsole gripping and processing device. The device includes a main body 10, which comprises a frame plate 11. Above the frame plate 11 are a loading station 20, a conveying mechanism 30, a loading gripping mechanism 40, a UV curing mechanism 50, and a unloading gripping mechanism 60. Two loading stations 20 are provided, each equipped with a receiving box 21 for storing midsoles coated with UV adhesive. A visual inspection component 22 is located beside the receiving box 21. The conveying mechanism 30 extends horizontally and is positioned directly below the loading gripping mechanism 40. The loading gripping mechanism 40 spans above the conveying mechanism 30 and grips the midsoles from the receiving box 21 to the inlet end of the conveying mechanism 30. The UV curing mechanism 50 is located on the side of the conveying mechanism 30 and cures the UV adhesive on the midsole. The unloading gripping mechanism 60 is correspondingly located at the outlet end of the conveying mechanism 30. Specifically, by setting up a loading station 20, a conveying mechanism 30, a loading gripping mechanism 40, a UV curing mechanism, and a unloading gripping mechanism 60, the entire process of footwear midsole production—from gripping, conveying, UV adhesive curing to unloading—is fully automated, replacing traditional manual operation. The two loading stations 20 can supply midsoles simultaneously, improving loading efficiency; the vision inspection component 22 ensures accurate midsole positioning, providing a foundation for subsequent precise gripping and curing; the conveying mechanism 30 stably conveys the midsole horizontally, ensuring orderly flow between processes; the loading gripping mechanism 40, positioned above the conveying mechanism 30, precisely grips the midsole and places it onto the conveying mechanism 30, ensuring loading accuracy; the UV curing mechanism cures the UV adhesive in the midsole, ensuring curing effectiveness; and the unloading gripping mechanism 60 promptly grips the cured midsole at the discharge end, automating unloading. Overall, this significantly improves production efficiency and processing accuracy, while reducing labor costs and quality risks associated with manual operation. In this embodiment, the visual detection component 22 is an existing mature visual camera, and its structure and model will not be described in detail.

[0029] like Figure 1 and Figure 2As shown, the conveying mechanism 30 includes a conveying track assembly 70 and a conveying plate 31. Two conveying track assemblies 70 are provided, symmetrically distributed in parallel. Each conveying track assembly 70 includes a mounting base 71, two slide rails 72, a transmission belt 73, and a drive motor (not shown). The mounting base 71 is fixedly connected to the upper surface of the frame plate 11. The two slide rails 72 are symmetrically arranged above the mounting base 71. The transmission belt 73 is located between the two slide rails 72 and is connected to the drive motor (not shown). The conveying plate 31 is connected to the transmission belt 73 and slides with the slide rails 72, used to carry the insole transferred by the feeding and gripping mechanism 40. Specifically, this structural design makes the conveying plate 31 more stable and reliable when sliding along the slide rails 72 under the drive of the transmission belt 73, smoothly carrying the insole transferred by the feeding and gripping mechanism 40, preventing the insole from shifting during conveying, providing positional assurance for the precise curing of the subsequent UV curing mechanism, and ensuring the stability and accuracy of the insole conveying.

[0030] like Figure 3 and Figure 4 As shown, the feeding gripping mechanism 40 includes two gantry supports 41, two feeding longitudinal linear modules 42, a feeding transverse linear module 43, a feeding lifting module 80, and a feeding gripping module 90; the two gantry supports 41 are distributed in parallel and symmetrically; the two feeding longitudinal linear modules 42 are installed one-to-one on the top of the two gantry supports 41; the feeding transverse linear module 43 is arranged across and slides with the two feeding longitudinal linear modules 42, and moves along the extension direction of the feeding longitudinal linear modules 42; the feeding lifting module 80 is connected to the feeding gripping module 90 and is used to drive the feeding gripping module 90 to move up and down; the feeding gripping module 90 is used to grip the insole from the receiving box 21. Specifically, the two gantry brackets 41 of the feeding gripping mechanism 40 provide stable support, and the two feeding longitudinal linear modules 42 cooperate with the feeding transverse linear module 43 to drive the feeding lifting module 80 and the feeding gripping module 90 to move flexibly in the horizontal direction, realizing a wide range of position adjustments; the feeding lifting module 80 can drive the feeding gripping module 90 to lift and lower, meeting the gripping needs at different height positions; the feeding gripping module 90 can accurately grip the insole from the holding box 21. The coordinated work of each component improves the accuracy and flexibility of feeding gripping, ensuring that the insole can be accurately gripped and placed on the conveying mechanism 30.

[0031] like Figure 4As shown, the loading lifting module 80 includes a lifting mounting frame 81, a lifting motor 82, a lifting drive belt 83, a lifting screw 84, and a transmission nut 85; the lifting mounting frame 81 is connected to the loading transverse linear module 43; the lifting motor 82 is installed on the rear side of the lifting mounting frame 81, and its output end is connected to the lifting drive belt 83; the end of the lifting drive belt 83 away from the lifting motor 82 is connected to the lifting screw; the transmission nut 85 is threadedly engaged with the lifting screw and is connected to the loading gripping module 90. Specifically, the loading lifting module 80, through the cooperation of the lifting motor 82, the lifting drive belt 83, the lifting screw 84 and the transmission nut 85, converts the rotational motion of the motor into the linear motion of the transmission nut 85, thereby realizing the lifting motion of the loading gripping module 90. This transmission method has high transmission accuracy and good stability, and can accurately control the lifting height of the loading gripping module 90, ensuring the positional accuracy of the loading gripping module 90 when gripping and placing the insole, thereby improving the accuracy of insole gripping.

[0032] like Figure 4 As shown, the feeding and gripping module 90 includes a feeding rotary motor 91 and a feeding gripping suction cup 92. The feeding rotary motor 91 is connected to a transmission nut 85, and its output end is connected to the feeding gripping suction cup 92, used to drive the feeding gripping suction cup 92 to rotate and adjust its angle. Specifically, the feeding rotary motor 91 in the feeding and gripping module 90 can drive the feeding gripping suction cup 92 to rotate and adjust its angle. This better adapts to different placement angles of the insole in the receiving box 21, achieving precise gripping of the insole and avoiding gripping failure or damage to the insole due to angle issues, thus improving the success rate and reliability of feeding and gripping. In this embodiment, the feeding gripping suction cup 92 is an existing mature vacuum suction cup, and its structure and model will not be described in detail.

[0033] like Figure 5 As shown, the UV curing mechanism 50 includes a support base 51, a curing linear module 52, a curing rotary motor 53, and a curing module 54. The support base 51 is disposed on one side of the conveying mechanism 30. The curing linear module 52 is mounted on the top of the support base 51, and its moving end is connected to the curing rotary motor 53 for driving the curing rotary motor 53 to move in a linear direction. The curing module 54 is connected to the output end of the curing rotary motor 53 for adjusting the irradiation angle of the curing module 54. Specifically, the support base 51 provides stable support for the entire mechanism; the curing linear module 52 can drive the curing rotary motor 53 to move in a linear direction, and can adjust the position of the UV lamp in the horizontal direction, so that the UV lamp can cure the insole at different positions on the conveying mechanism 30; the curing rotary motor 53 can adjust the irradiation angle of the curing module 54 (UV lamp), and can adjust the optimal irradiation angle according to the shape of the insole and the UV adhesive coating, ensuring that the UV adhesive on the insole can be fully and uniformly cured, improving the curing quality and efficiency.

[0034] like Figure 5 As shown, the curing module 54 is a UV lamp. Specifically, the curing module 54 uses a UV lamp, which emits ultraviolet light of a specific wavelength, effectively stimulating the photoinitiator in the UV adhesive to quickly initiate the polymerization reaction and achieve efficient curing of the UV adhesive. Compared with other curing methods, it has the advantages of fast curing speed and good curing effect, ensuring the quality and efficiency of the midsole UV adhesive curing.

[0035] like Figure 2 As shown, the feeding and gripping mechanism 60 includes a feeding gantry 61, a feeding transverse linear module 62, a feeding gripping module 63, and two feeding longitudinal linear modules 64. The feeding gantry 61 is located at the discharge end of the conveying mechanism 30. The feeding transverse linear module 62 is installed on the side of the feeding gantry 61, and its moving end is connected to the feeding gripping module 63. The feeding gripping module 63 is used to grip the cured insole. The two feeding longitudinal linear modules 64 are respectively connected to the two ends of the bottom of the feeding gantry 61. Specifically, the unloading gantry 61 provides support for the mechanism, the unloading horizontal linear module 62 can drive the unloading gripping module 63 to move horizontally, and the two unloading vertical linear modules 64 can adjust the position of the unloading gantry 61, etc., so that the unloading gripping module 63 can accurately move to the position of the midsole at the discharge end of the conveying mechanism 30; the unloading gripping module 63 can stably grip the cured midsole, and the cooperation of each component realizes the automation of the unloading process, improves the unloading efficiency and accuracy, and ensures that the midsole can be gripped in a timely and accurate manner after curing, avoiding accumulation or gripping errors. In this embodiment, the unloading gripping mechanism 60 is also provided with an unloading box 65, which is located between the two unloading vertical linear modules 64 and is used to store the cured midsole.

[0036] like Figure 2 As shown, the material feeding and gripping module 63 includes a material feeding rotary motor 66 and a material feeding gripping suction cup 67. The material feeding rotary motor 66 is connected to the material feeding linear module, and its output end is connected to the material feeding gripping suction cup 67, used to drive the material feeding gripping suction cup 67 to rotate and adjust its angle. Specifically, the material feeding rotary motor 66 can drive the material feeding gripping suction cup 67 to rotate and adjust its angle, and can adjust the optimal gripping angle according to the position and state of the cured midsole, so as to achieve precise gripping of the midsole, ensure the smooth progress of the material feeding process, and improve the success rate and accuracy of material feeding. In this embodiment, the material feeding gripping suction cup 67 is an existing mature vacuum suction cup, and its structure and model will not be described in detail.

[0037] like Figure 1As shown, the accommodating box 21 has at least two adjacent accommodating cavities 23, one end of each accommodating cavity 23 is connected to the outside, and the size of the accommodating cavity 23 is adapted to the feeding gripping suction cup 92. Specifically, the arrangement of at least two adjacent accommodating cavities 23 allows for the simultaneous storage of multiple midsoles, improving the continuity of feeding; the connection of one end of each accommodating cavity 23 to the outside facilitates the feeding gripping suction cup 92 to extend into and grip the midsole; the adaptation of the size of the accommodating cavity 23 to the feeding gripping suction cup 92 provides a certain degree of limitation for the midsole, while ensuring that the feeding gripping suction cup 92 can accurately and stably grip the midsole, improving the accuracy and stability of feeding gripping.

[0038] The working principle of this utility model is as follows:

[0039] Before the equipment is started, the staff put the shoe midsoles coated with UV glue into the receiving boxes 21 of the two loading stations 20 respectively. Each receiving cavity 23 of the receiving box 21 corresponds to one midsole. The vision detection component 22 next to the receiving box 21 is activated to detect the position and placement angle of the midsole in the receiving cavity 23 and feed the detection data back to the equipment control system to provide a position reference for subsequent accurate grasping.

[0040] In its initial state, the conveying mechanism 30's conveying plate 31 rests on one side of the receiving box 21, corresponding to the gripping range of the feeding gripping mechanism 40. The feeding gripping mechanism 40 then begins to operate: two parallel and symmetrical gantry supports 41 provide stable support, and the feeding longitudinal linear module 42 drives the feeding transverse linear module 43 to move longitudinally, aligning the feeding lifting module 80 and the feeding gripping module 90 with the target receiving cavity 23. Subsequently, the lifting motor 82 of the feeding lifting module 80 starts, driving the lifting screw to rotate via the lifting drive belt 83, and the transmission nut 85 moves down along the screw, simultaneously driving the feeding gripping module 90 to descend. The feeding rotary motor 91 of the feeding gripping module 90 adjusts the angle of the feeding gripping suction cup 92 based on the angle data fed back by the vision detection component 22, ensuring that the suction cup adheres to the surface of the midsole, and finally, the suction cup adsorbs the midsole and completes the gripping.

[0041] After the loading gripping module 90 grips the midsole, the loading lifting module 80 drives it to rise to a safe height. The loading horizontal straight module 43 and the loading vertical straight module 42 work together again to move the midsole directly above the conveyor plate 31 that is parked on one side of the receiving box 21. The loading lifting module 80 drives the midsole to descend and places it stably on the conveyor plate 31. The loading gripping suction cup 92 releases the midsole, completing the loading process.

[0042] When the midsole reaches the UV curing mechanism's working area, the UV curing mechanism adjusts the lamp position and irradiation angle to cure the UV adhesive on the midsole. After curing, the conveyor plate 31 continues to move.

[0043] The conveyor plate 31 carries the cured midsole to the discharge end, and the feeding gripping mechanism 60 adjusts the suction cup angle to grip the midsole and transfers it to the feeding box 65 for release; then the conveyor plate 31 returns to the side of the receiving box 21 to prepare for the next round of operation.

[0044] The above description merely illustrates the preferred technical solution of this utility model, and while the description is relatively specific and detailed, it should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and this utility model also intends to include these modifications and variations.

Claims

1. A footwear midsole gripping and processing apparatus, characterized by, The device includes a main body, which comprises a frame plate. Above the frame plate are a loading station, a conveying mechanism, a loading gripping mechanism, a UV curing mechanism, and a unloading gripping mechanism. Two loading stations are provided, each equipped with a container for holding midsoles coated with UV adhesive. A visual inspection component is located beside each container. The conveying mechanism extends horizontally and is positioned directly below the loading gripping mechanism. The loading gripping mechanism spans above the conveying mechanism and grips the midsoles from the container to the inlet end of the conveying mechanism. The UV curing mechanism is located on the side of the conveying mechanism and cures the UV adhesive on the midsoles. The unloading gripping mechanism is correspondingly located at the outlet end of the conveying mechanism.

2. The footwear midsole gripping and processing equipment according to claim 1, characterized in that, The conveying mechanism includes a conveying track assembly and a conveying plate; there are two conveying track assemblies, which are parallel and symmetrically distributed; each conveying track assembly includes a mounting base, two slide rails, a transmission belt, and a drive motor; the mounting base is fixedly connected to the upper surface of the frame plate; the two slide rails are symmetrically arranged above the mounting base; the transmission belt is located between the two slide rails and is connected to the drive motor; the conveying plate is connected to the transmission belt and slides with the slide rails to support the insole transferred by the feeding and gripping mechanism.

3. The footwear midsole gripping and processing equipment according to claim 1, characterized in that, The feeding and gripping mechanism includes two gantry supports, two feeding longitudinal linear modules, a feeding transverse linear module, a feeding lifting module, and a feeding gripping module; the two gantry supports are distributed in parallel and symmetrically; the two feeding longitudinal linear modules are installed one-to-one on the top of the two gantry supports; the feeding transverse linear module is arranged across and slides with the two feeding longitudinal linear modules, and moves along the extension direction of the feeding longitudinal linear modules; the feeding lifting module is connected to the feeding gripping module and is used to drive the feeding gripping module to move up and down; the feeding gripping module is used to grip the insole from the receiving box.

4. The footwear midsole gripping and processing apparatus according to claim 3, wherein, The loading and lifting module includes a lifting mounting frame, a lifting motor, a lifting drive belt, a lifting screw, and a transmission nut; the lifting mounting frame is connected to the loading horizontal linear module; the lifting motor is installed on the rear side of the lifting mounting frame, and its output end is connected to the lifting drive belt; the end of the lifting drive belt away from the lifting motor is connected to the lifting screw; the transmission nut is threadedly engaged with the lifting screw and is connected to the loading gripping module.

5. The footwear midsole gripping and processing apparatus according to claim 3, wherein, The feeding and gripping module includes a feeding rotary motor and a feeding gripping suction cup; the feeding rotary motor is connected to a transmission nut, and its output end is connected to the feeding gripping suction cup to drive the feeding gripping suction cup to rotate and adjust the angle.

6. The footwear midsole gripping and processing equipment according to claim 1, characterized in that, The UV curing mechanism includes a support base, a curing linear module, a curing rotary motor, and a curing module; the support base is disposed on one side of the conveying mechanism; the curing linear module is installed on the top of the support base, and its moving end is connected to the curing rotary motor for driving the curing rotary motor to move in a linear direction; The curing module is connected to the output end of the curing rotary motor and is used to adjust the irradiation angle of the curing module.

7. The footwear midsole grab processing apparatus of claim 6, wherein, The curing module is a UV lamp.

8. The footwear midsole grab processing apparatus of claim 1, wherein, The material feeding and gripping mechanism includes a material feeding gantry, a material feeding transverse linear module, a material feeding gripping module, and two material feeding longitudinal linear modules. The material feeding gantry is located at the discharge end of the conveying mechanism. The material feeding transverse linear module is installed on the side of the material feeding gantry, and its moving end is connected to the material feeding gripping module. The material feeding gripping module is used to grip the cured insole. The two material feeding longitudinal linear modules are respectively connected to the two ends of the bottom of the material feeding gantry.

9. The footwear midsole grab processing apparatus of claim 8, wherein, The material feeding and gripping module includes a material feeding rotary motor and a material feeding gripping suction cup; the material feeding rotary motor is connected to the material feeding linear module, and its output end is connected to the material feeding gripping suction cup to drive the material feeding gripping suction cup to rotate and adjust the angle.

10. The footwear midsole gripping and processing equipment according to claim 1, characterized in that, The accommodating box has at least two adjacent accommodating cavities, one end of each accommodating cavity is connected to the outside, and the size of the accommodating cavity is adapted to the feeding gripping suction cup.

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